#!/bin/sh
#
# @name Aion Robotics R1 UGV
#
# @url https://www.aionrobotics.com/r1
#
# @type Rover
# @class Rover
#
# @output MAIN0 Speed of left wheels
# @output MAIN1 Speed of right wheels
#
# @maintainer Timothy Scott
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

. ${R}etc/init.d/rc.rover_defaults

param set-default BAT1_N_CELLS 4

param set-default EKF2_GBIAS_INIT 0.01
param set-default EKF2_ANGERR_INIT 0.01
param set-default EKF2_MAG_TYPE 1

param set-default FW_AIRSPD_MIN 0
param set-default FW_AIRSPD_TRIM 1
param set-default FW_AIRSPD_MAX 3

param set-default GND_SP_CTRL_MODE 1
param set-default GND_L1_DIST 5
param set-default GND_L1_PERIOD 3
param set-default GND_THR_CRUISE 0.7
param set-default GND_THR_MAX 0.5

# Because this is differential drive, it can make a turn with radius 0.
# This corresponds to a turn angle of pi radians.
# If a special case is made for differential-drive, this will need to change.
param set-default GND_MAX_ANG 3.142
param set-default GND_WHEEL_BASE 0.3

# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
# to support negative throttle.
param set-default GND_THR_MIN 0
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_I 3
param set-default GND_SPEED_D 0.001
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_THR_SC 1

param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01

param set-default NAV_ACC_RAD 0.5

# Provide ESC a constant 1500 us pulse, which corresponds to
# idle on the Roboclaw motor controller on the Aion R1
param set-default PWM_MAIN_DISARM 1500
param set-default PWM_MAIN_DIS0 1500
param set-default PWM_MAIN_DIS1 1500
param set-default PWM_MAIN_MAX 2000
param set-default PWM_MAIN_MIN 1000

# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128

# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
param set-default GND_MAX_ANG 3.1415

param set-default RBCLW_BAUD 8
param set-default RBCLW_COUNTS_REV 1200
param set-default RBCLW_ADDRESS 128
# 104 corresponds to Telem 4
param set-default RBCLW_SER_CFG 104
# Start this driver after setting parameters, because the driver uses some of those parameters.
# roboclaw start /dev/ttyS3

# Configure this as rover
set MAV_TYPE 10

# Set mixer
set MIXER generic_diff_rover

set PWM_MAIN_REV2 1
